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Generalized-Extended-State-Observer and Equivalent-Input-Disturbance Methods for Active Disturbance Rejection: Deep Observation and Comparison

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 957-968页

作者： Jinhua She Kou Miyamoto Qing-Long Han Min Wu Hiroshi Hashimoto Qing-Guo Wang School of Engineering Tokyo University of TechnologyHachiojiTokyo 192-0982Japan K.Miyamoto is with the Institute of Technology Shimizu CorporationKotoTokyo 135-0044Japan School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourneVIC 3122Australia School of Automation China University of GeosciencesWuhan 430074 Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China School of Industrial Technology Advanced Institute of Industrial TechnologyTokyo 140-0011Japan Institute of Artificial Intelligence and Future Networks Beijing Normal UniversityZhuhai 519087 Guangdong Key Lab of AI and Multi-Modal Data Processing Guangdong Provincial Key Laboratory of Interdisciplinary Research and Application for Data Science BNUHKBU United International College Zhuhai 519087China

Active disturbance-rejection methods are effective in estimating and rejecting disturbances in both transient and steady-state *** paper presents a deep observation on and a comparison between two of those methods:the generalized extended-state observer(GESO)and the equivalent input disturbance(EID)from assumptions,system configurations,stability conditions,system design,disturbance-rejection performance,and extensibility.A time-domain index is introduced to assess the disturbance-rejection performance.A detailed observation of disturbance-suppression mechanisms reveals the superiority of the EID approach over the GESO method.A comparison between these two methods shows that assumptions on disturbances are more practical and the adjustment of disturbance-rejection performance is easier for the EID approach than for the GESO method.

关键词： Active disturbance-rejection control(ADRC) disturbance observer(DOB) equivalent input disturbance(EID) extendedstate observer(ESO) generalized extended-state observer(GESO)

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RAG-based Crowdsourcing Task Decomposition via Masked Contrastive Learning with Prompts

arXiv

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arXiv 2024年

作者： Yang, Jing Wang, Xiao Zhao, Yu Liu, Yuhang Wang, Fei-Yue The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China The School of Artificial Intelligence Anhui University Hefei266114 China Qingdao Academy of Intelligent Industries Qingdao230031 China National Key Laboratory of Information Systems Engineering National University of Defense Technology China Macau University of Science and Technology 999078 China Beijing Engineering Research Center of Intelligent Systems and Technology Chinese Academy of Sciences Beijing100098 China State Key Laboratory for Management and Control of Complex Systems Chinese Academy of Sciences Beijing100190 China

Crowdsourcing is a critical technology in social manufacturing, which leverages an extensive and boundless reservoir of human resources to handle a wide array of complex tasks. The successful execution of these complex tasks relies on task decomposition (TD) and allocation, with the former being a prerequisite for the latter. Recently, pre-trained language models (PLMs)based methods have garnered significant attention. However, they are constrained to handling straightforward common-sense tasks due to their inherent restrictions involving limited and difficult-to-update knowledge as well as the presence of "hallucinations". To address these issues, we propose a retrieval-augmented generation-based crowdsourcing framework that reimagines TD as event detection from the perspective of natural language understanding. However, the existing detection methods fail to distinguish differences between event types and always depend on heuristic rules and external semantic analyzing tools. Therefore, we present a Prompt-Based Contrastive learning framework for TD (PBCT), which incorporates a prompt-based trigger detector to overcome dependence. Additionally, trigger-attentive sentinel and masked contrastive learning are introduced to provide varying attention to trigger and contextual features according to different event types. Experiment results demonstrate the competitiveness of our method in both supervised and zero-shot detection. A case study on printed circuit board manufacturing is showcased to validate its adaptability to unknown professional domains. Copyright © 2024, The Authors. All rights reserved.

关键词： Semantics

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Modeling and Tracking control for Dielectric Elastomer Actuator with Sliding Mode Feedback controller 7

Modeling and Tracking Control for Dielectric Elastomer Actua...

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7th International Conference on control Science and systems Engineering, ICCSSE 2021

作者： Zhang, Yue Huang, Peng Zhang, Pan Wang, Yawu China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Hubei Wuhan430074 China

ISBN: (纸本)9781665444057

This paper proposes the modeling and tracking control methods for the dielectric elastomer actuator (DEA). A dynamic model of the DEA is built, which is composed of an asymmetric hysteresis model, a creep model and a linear system. To compensate the hysteresis and creep nonlinearities of the DEA, an inverse compensation feedforward controller (ICFC) is designed based on the creep model and the inverse of the asymmetric hysteresis model. Besides, an extended state observer (ESO) is designed to estimate the unmeasurable state of the DEA, as well as uncertainties including the modeling errors, parameter perturbations and external disturbances. Then, a sliding mode feedback controller (SMFC) is designed cooperating with the ICFC to realize the high precision tracking control of the DEA. The convergence of the ESO and the whole control system are proved through the Lyapunov method. Finally, some experiments are executed to verify the effectiveness of the proposed modeling and control methods. © 2021 IEEE.

关键词： Linear systems

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That-Net: Two-Layer Hidden State Aggregation Based Two-Stream Network for Traffic Accident Prediction

SSRN

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SSRN 2023年

作者： Liu, Wei Zhang, Tao Lu, Yisheng Chen, Jun Wei, Longsheng School of Automation China University of Geosciences Wuhan430074 China Key Laboratory of Geological Survey and Evaluation Ministry of Education Wuhan430074 China Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China

With the bursting of autonomous and assistant driving systems, traffic accident prediction has attracted increasing attention during the past few years. However, predicting traffic accidents is extremely challenging due to the complexity of traffic scenarios and the variability of traffic object's motion states. Existing algorithms contain all traffic objects and all video frames indiscriminately in the prediction model, which correspondingly reduces the prediction accuracy. To solve this problem, we propose a two-layer hidden state aggregation based two-stream network (THAT-Net) to construct a more accurate prediction model. The proposed model fuses two streams to achieve complementary spatio-temporal information, in which optical flow features are introduced to 'remove' irrelevant objects of accident. Furthermore, two-layer hidden state aggregation structure is adopted to reintegrate the hidden state weights of gated recurrent units to reduce the influence of irrelevant frames. Comprehensive experimental results on both benchmark datasets demonstrate state-of-the-art performance of THAT-Net, especially on the challenging Dashcam Accident dataset. Our code is available at: https://***/redeyezt/THAT-Net. © 2023, The Authors. All rights reserved.

关键词： Benchmarking

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Inverse Compensation Feedforward control Strategy for a Vertical Pneumatic Artificial Muscle System 8

Inverse Compensation Feedforward Control Strategy for a Vert...

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8th International Conference on control Science and systems Engineering, ICCSSE 2022

作者： Xiao, Huai Meng, Qingxin Lai, Xuzhi Yan, Ze Zhao, Shiying Wu, Min School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Hubei Wuhan430074 China

ISBN: (纸本)9781665484138

This paper proposes an inverse compensation feed-forward control strategy for a vertical pneumatic artificial muscle (PAM) system. Firstly, we conduct a preliminary experiment on the vertical PAM system, and on this basis, we analyze the motion characteristics of the system. Moreover, we clarify the control objective of this paper. Then, we establish a model that can describe the hysteresis characteristics of the system, and we further construct an inverse compensation feedforward controller by inversing this established model. Finally, we carry out some tracking control experiments based on the vertical PAM experimental platform to verify the effectiveness and superiority of the proposed control strategy, © 2022 IEEE.

关键词： Hysteresis

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Manifestations of 9754 gout patients in a Chinese clinical center: A 10-year observational study

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Revue du Rhumatisme (Edition Francaise) 2022年第1期89卷 65-71页

作者： Gao, Qianhui Cheng, Xiaoyu Merriman, Tony R. Wang, Can Cui, Lingling Zhang, Hui Sun, Wenyan Wang, Jing Wang, Feiyue Li, Changgui Lu, Jie Shandong Provincial Key Laboratory of Metabolic Diseases and Qingdao Key Laboratory of Gout Department of Endocrinology and Metabolism the Affiliated Hospital of Qingdao University Qingdao 266003 China Institute of Metabolic Diseases Qingdao University Qingdao 266003 China Department of Biochemistry University of Otago Dunedin New Zealand Division of Clinical Immunology and Rheumatology University of Alabama Birmingham Alabama United States Institute of Smart Healthcare Systems Qingdao Academy of Intelligent Industries Qingdao 266109 China The State Key Laboratory for Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

Objectif: La prévalence de la goutte augmente, mais les études analysant ses caractéristiques cliniques dans de grands échantillons sont insuffisantes. Cette étude s'attache à clarifier les changements dans les manifestations cliniques de la goutte en Chine au cours des dix dernières années et à analyser les caractéristiques cliniques et les facteurs de risque de la goutte précoce. Méthodes: Les manifestations cliniques de la goutte ont été comparées chez 9754 patients reçus pour la première fois dans notre établissement entre 2008 et 2012 (premier groupe) ou entre 2013 et 2018 (dernier groupe). La goutte apparue ≤ 30 ans a été définie comme goutte précoce et > 30 ans, comme goutte tardive. Les caractéristiques cliniques et les facteurs de risque ont été comparés entre les groupes. Résultats: La goutte est apparue 4,14 ans plus tôt dans le dernier groupe (2013-2018, 5979 patients) et le pourcentage de goutte précoce (3827 patients) y était plus élevé. La durée de la maladie était significativement plus courte (5,72 ± 0,09 contre 6,01 ± 0,11, p < 0,05) et la proportion de patients présentant des tophi était plus faible dans le dernier groupe (20,0% contre 22,0%, p<0,05). Le dernier groupe comptait davantage de patients obèses (37,7% contre 32,6%, p < 0,001) et l'uricémie y était significativement plus élevée (485,5 ± 1,5 Μmol/l contre 465,0 ± 1,9 Μmol/l). Comme la goutte survenait à un âge plus jeune, nous avons appliqué une régression logistique multivariée et déterminé que des antécédents familiaux positifs, le sexe masculin, l'obésité, une uricémie élevée et la consommation de sodas sucrés étaient des facteurs prédictifs indépendants de goutte précoce. Conclusion: Les manifestations de la goutte en Chine ont évolué au cours des dix dernières années, avec notamment une tendance à une apparition plus précoce. © 2021

关键词： Apparition précoce Drop Early onset Facteurs de risque Goutte Risk factors

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Non-Blind Image Deblurring Method Using Shear High Order Total Variation Norm

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Wuhan University Journal of Natural Sciences 2021年第6期26卷 495-506页

作者： LU Lixuan ZHANG Tao School of Mathematics and Physics Anhui University of TechnologyMaanshan 243002AnhuiChina Key Laboratory of Multidisciplinary Management and Control of Complex Systems of Anhui Higher Education Institutes Anhui University of TechnologyMaanshan 243002AnhuiChina

In this paper,we propose a shear high-order gradient(SHOG)operator by combining the shear operator and high-order gradient(HOG)*** with the HOG operator,the proposed SHOG operator can incorporate more directionality and detect more abundant edge *** on the SHOG operator,we extend the total variation(TV)norm to shear high-order total variation(SHOTV),and then propose a SHOTV deblurring *** also study some properties of the SHOG operator,and show that the SHOG matrices are Block Circulant with Circulant Blocks(BCCB)when the shear angle isπ/*** proposed model is solved efficiently by the alternating direction method of multipliers(ADMM).Experimental results demonstrate that the proposed method outperforms some state-of-the-art non-blind deblurring methods in both objective and perceptual quality.

关键词： image deblurring high-order TV norm Block Circulant with Circulant Blocks(BCCB)matrix shear operator alternating direction method of multipliers(ADMM)

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Analysis of the Research Status of Information Technology Education Literature in China and Abroad 24

Analysis of the Research Status of Information Technology Ed...

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24th IEEE International Conference on High Performance Computing and Communications, 8th IEEE International Conference on Data Science and systems, 20th IEEE International Conference on Smart City and 8th IEEE International Conference on Dependability in Sensor, Cloud and Big Data systems and Application, HPCC/DSS/SmartCity/DependSys 2022

作者： Zhao, Yulin Liu, Kai Li, Junke School of Information Engineering Suqian University Jiangsu Suqian223800 China School of Computer and Information Qiannan Normal University for Nationalities Duyun558000 China Jiangsu Province Engineering Research Center of Smart Poultry Farming and Intelligent Equipment Jiangsu 223800 China Key Laboratory of Machine Learning and Unstructured Data Processing of Qiannan Duyun558000 China Key Laboratory of Complex Systems and Intelligent Optimization of Guizhou Duyun558000 China

ISBN: (纸本)9798350319934

Information technology education contributes to the development of national education. Understanding the research status of information technology education at home and abroad is helpful to the implementation of education informatization. This paper takes the information technology education research literature collected by CNKI and the Web of Science database as the object and uses the bibliometric method to analyze the literature characteristics of information technology education at home and abroad. Specifically, the paper mainly carries out statistical analysis from the time distribution of literature, journal distribution, and hot keywords, and visually describes the literature features of the information technology education discipline, providing references for the research of information technology education discipline at home and abroad. © 2022 IEEE.

关键词： Informatization

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Close-range Hot Spot Detection based on K-neighbor Algorithm and Experiment on Hot Spot Effect 4

Close-range Hot Spot Detection based on K-neighbor Algorithm...

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2022 4th International Conference on Energy systems and Electrical Power, ICESEP 2022

作者： Na, ZhiXiong Wang, Dong Wang, ZiYue Wang, Jian Tang, Yu Zhang, ZiHan State Grid e-commerce Co. Ltd Beijing100053 China State Grid Tianjin Electric Power Company China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing210096 China

Abnormalities caused by the hot spot effect are very common in the application of photovoltaic modules, which seriously affect the life and power generation efficiency of photovoltaic modules. Therefore, the study of hot spot effect is of great significance to the development of photovoltaic industry in the future. By analyzing the hot spot effect and its causes, this paper lists possible factors that may affect the hot spot effect, uses the K-proximity algorithm for hot spot detection to classify the near-field infrared images obtained in photovoltaic power plants, and designs experiments to explore the influence of several factors on the hot spot effect, the influence characteristics of the shading area and the types of shading objects are deeply explored, and finally a certain summary is made. © 2022 Institute of Physics Publishing. All rights reserved.

关键词： Infrared imaging

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Kinematics Analysis of a Manipulator for the Power Transmission Line Maintenance Robot 42

Kinematics Analysis of a Manipulator for the Power Transmiss...

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42nd Chinese control Conference, CCC 2023

作者： Chen, Minghao Li, En Zhang, Feng Guo, Rui Liang, Zize Zhang, Yuwei Institute of Automation The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China Shandong Luneng Intelligence Technology Co. Ltd. Jinan250001 China The State Grid Shandong Electric Power Company Jinan250001 China

ISBN: (纸本)9789887581543

With the remarkable development of the power grid, traditional manual maintenance modes cannot meet the requirement of efficiency and reliability. Robotic technology is applied for power line maintenance to bring down risks and ensure inspectors' safety. Based on the power transmission line maintenance platform, a 5-DOF manipulator is designed to perform the maintenance tasks for the quad bundle conductors. Then the kinematics analysis of the manipulator is analyzed. The manipulator doesn't meet the Pieper criterion. So an improved adaptive particle swarm optimization (APSO) is proposed for figuring out the inverse kinematics. The weights of the pose and the constraint of the prismatic joint are introduced to the algorithm. What's more, half of the particles are initialized around the incipient value of joints and half of the particles are randomly initialized with the constraint of joints in this algorithm. Results show that the manipulator is able to work in the environment of quad bundle conductors and the proposed algorithm can improve the precision of inverse kinematics and prevent the leap of joints. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Maintenance

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